Fourier Guided Adaptive Adversarial Augmentation for Generalization in Visual Reinforcement Learning

Visual Reinforcement Learning (RL) facilitates learning directly from raw images; however, the domain gap between training and testing environments frequently leads to a decline in performance within unseen environments. In this paper, we propose Fourier Guided Adaptive Adversarial Augmentation (FGA3), a novel augmentation method that maintains semantic consistency. We focus on style augmentation in the frequency domain by keeping the phase and altering the amplitude to preserve the state of the original data. For adaptive adversarial perturbation, we reformulate the worst-case problem to RL by employing adversarial example training, which leverages value loss and cosine similarity within a semantic space. Moreover, our findings illustrate that cosine similarity is effective in quantifying feature distances within a semantic space. Extensive experiments on DMControl-GB and Procgen have shown that FGA3 is compatible with a wide range of visual RL algorithms, both off-policy and on-policy, and significantly improves the robustness of the agent in unseen environments.